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Code Issues Releases Activity

OP-1682 - OneShot125: Change timer clock to 2MHz (that's available as exact value for current targets), raise timer period to prevent glitches

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This commit is contained in:
Alessio Morale 2015-01-31 14:40:40 +01:00
parent 6f3f7b9972
commit 1d08083375
1 changed files with 22 additions and 13 deletions
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35
flight/modules/Actuator/actuator.c
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@ -53,22 +53,23 @@ static int8_t counter;
#endif
// Private constants
#define MAX_QUEUE_SIZE 2
#define MAX_QUEUE_SIZE 2
#if defined(PIOS_ACTUATOR_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE
#define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE
#else
#define STACK_SIZE_BYTES 1312
#define STACK_SIZE_BYTES 1312
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // device driver
#define FAILSAFE_TIMEOUT_MS 100
#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // device driver
#define FAILSAFE_TIMEOUT_MS 100
#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
#define CAMERA_BOOT_DELAY_MS 7000
#define CAMERA_BOOT_DELAY_MS 7000
#define ACTUATOR_ONESHOT125_CLOCK 8000000
#define ACTUATOR_PWM_CLOCK 1000000
#define ACTUATOR_ONESHOT125_CLOCK 2000000
#define ACTUATOR_ONESHOT125_PULSE_SCALE 4
#define ACTUATOR_PWM_CLOCK 1000000
// Private types
@ -737,10 +738,18 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSet
case ACTUATORSETTINGS_CHANNELTYPE_PWM:
{
// OneShot125 is remapped from 1000-2000 range to 125-250 due to timer running at 8MHz
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
}
uint8_t mode = pinsMode[actuatorSettings->ChannelAddr[mixer_channel]];
switch (mode) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
// Remap 1000-2000 range to 125-250
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value / ACTUATOR_ONESHOT125_PULSE_SCALE);
break;
default:
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
break;
}
return true;
}
#if defined(PIOS_INCLUDE_I2C_ESC)
case ACTUATORSETTINGS_CHANNELTYPE_MK:
@ -794,7 +803,7 @@ static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuator
);
switch (actuatorSettings->BankMode[i]) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
freq[i] = 1000;
freq[i] = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered
clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 8MHz timer clock
break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT: